JP2019533599A - Underwater boat and inspection method - Google Patents

Abstract

A method is provided for performing operations on a target portion of a pipeline (P) located in an underwater environment using an aquatic environment robotic system (110). The method includes deploying an underwater robotic boat (110) underwater and visually inspecting the underwater environment to locate the pipeline and its plurality of welded joints (402). The cleaning operation is performed at one of the plurality of welding joints using the underwater robot boat. The robotic boat can land on the seabed to inspect the cleaned weld joint and deploy a robot arm (132). The underwater robot boat can then proceed to the next weld joint, land and perform cleaning and inspection operations that can be repeated until all inspection sites have been inspected.

Description

  A system, method and apparatus for performing underwater tasks including an underwater robot and a reusable buoyancy module.

  In particular, inspection of underwater foundation structures in shallow water environments can be difficult. Shallow water sites (eg, less than 10m deep) are typically used to inspect submerged pipelines in deeper water with the help of tethered divers and / or remotely operated spacecraft (ROV) It is difficult to get close by advanced diving support vessel (DSV). In general, these vessels have automatic ship position (DP) devices that allow the vessel to stabilize at a specific location above the intended target inspection site. A typical DP system only works above a depth of 10 m. Deep sea ROVs include robot arms and manipulators that can be electrically controlled or use hydraulics and aerodynamics. DSVs provide them with electrical and mechanical (aerodynamic, hydraulic) power signals, communication signals, control signals, and cleaning fluids (water jets, sandblasts, cavitation jets). With respect to divers, divers are also provided with air and communication using their lifesaving tethered to the DSV.

  Shallow water environments limit the ability of support boats to navigate in close proximity to the structure being inspected. Therefore, the inspection robot needs to operate at a distance from the support boat to perform inspections and other tasks in these areas. Separation between support boats includes communication and control over distance, the need for the robot to move the distance from the support boat to the structure being inspected, and the robot inspects and others when the robot is in place. Cause a number of problems with boat movement, including problems with the ability to perform these tasks.

  Accordingly, there is a need to provide an underwater boat having means for performing these tasks and an operating method that can be utilized to successfully perform these tasks. Underwater inspection of shallow water environments can be achieved in accordance with the invention disclosed herein.

  In one aspect of the invention, a method is provided for performing operations on an underwater foundation structure at multiple locations using an aquatic environment robotic system. The method includes providing an underwater robot boat in a position proximate to the underwater foundation structure. The underwater robot boat is moved underwater to one of a plurality of locations of the underwater foundation structure. The first operation is performed on the underwater foundation structure at one of the plurality of locations. The underwater boat is operated to engage the sea floor. The second operation is performed on the underwater foundation structure at one of the plurality of locations. The submersible boat is moved underwater to another place among the plurality of places of the underwater foundation structure. The step of performing the first action by moving the boat to another location is repeated until all desired actions are performed at all of the desired locations of the plurality of locations. The method further includes the step of retrieving the underwater boat.

  According to an additional aspect, the first operation is a cleaning operation and the second operation is a previously cleaned first location inspection operation using a non-destructive sensor.

  According to yet additional aspects, the underwater foundation is a pipeline and the plurality of locations are welded joints along the pipeline.

  According to an additional aspect, the step of manipulating the submersible craft to engage the sea floor is such that the buoyancy characteristics of the submersible craft are changed from neutrally buoyant to negative buoyant. Controlling and operating the buoyancy module.

  According to a further aspect, performing the second action includes extending the robot arm and sensing using a non-destructive sensor.

  According to a further aspect, the step of moving the underwater robot boat to another location underwater changes the buoyancy characteristic of the underwater boat from one having negative buoyancy to one having neutral buoyancy. Re-engaging the submersible boat with the buoyancy module to move underwater.

  In accordance with another additional aspect of the present invention, a method is provided for performing operations on a target portion of a pipeline located in an underwater environment using an aquatic environment robotic system. The pipeline has a plurality of weld joints located at a plurality of locations along the length of the pipeline. The method includes providing an underwater robot boat at a location proximate to the underwater pipeline. The underwater robot boat is adapted to move the underwater robot boat by traveling in water, with at least one robot arm, a tread adapted to move the underwater robot boat along the seabed, a sensor, and a sensor. And propulsion systems. The method includes deploying an underwater robot boat in the water. The underwater environment is visually inspected using an underwater robot boat to locate the pipeline and multiple welded joints in the pipeline. The cleaning operation is performed at one of the plurality of weld joints using the underwater robot boat. The underwater robot boat is operated to land on the sea bottom and stabilize. The position of the underwater robot boat is adjusted on the sea floor. The robot arm is deployed to inspect the cleaned weld joint, and the cleaned weld joint is inspected to collect cathodic protection data and ultrasonic test data using sensors. The robot arm is housed in a folding position suitable for the underwater robot boat to travel underwater, and the underwater robot boat performs a visual inspection while pipelining to another weld joint of the plurality of weld joints. Proceed through the water along. The step of cleaning by proceeding to the next location is repeated for a plurality of weld joints in the target portion of the pipeline. The method further includes advancing the underwater robot boat upward and allowing the recovery of the underwater robot boat at the surface of the aquatic environment.

  According to an additional aspect, deploying the underwater robot boat into the water includes deploying the underwater robot boat from the water surface support vessel.

  According to yet an additional aspect, the step of deploying the underwater robot boat underwater is sufficient to deploy the underwater robot boat from a land location and the underwater robot boat allows the water to travel underwater. Crawling along the sea floor using a tread until it moves to a position with a certain depth.

  According to yet an additional aspect, the underwater robot boat is connected to a communication repeater configured to allow aerial communication between the underwater robot boat and the remote control station.

  According to yet additional aspects, the method further includes locating the pipeline using sonar sensors mounted below the water surface support vessel.

  According to an additional aspect, the method further includes positioning the pipeline using sonar sensors attached to the underwater robotic boat.

  According to yet additional aspects, performing the cleaning operation includes using at least one of a cavitation system and a brushing system.

  According to yet additional aspects, the cavitation system includes a cavitation engine supported by a surface boat.

  According to yet additional aspects, the brushing system includes a system having destabilization reducing means for reducing the force generated during the step of performing the cleaning operation.

  According to yet an additional aspect, manipulating the submersible craft to land and stabilize on the sea floor includes engaging the propulsion system to provide a downward force toward the sea floor.

  According to an additional aspect, the step of adjusting the position of the underwater robot boat on the sea floor includes using a propeller.

  According to yet additional aspects, the step of adjusting the position of the underwater robotic boat at the sea floor includes using a tread to minimize disturbance to the underwater environment.

  According to yet an additional aspect, the underwater robot boat includes a buoyancy control module, and the step of manipulating the underwater robot boat to land and stabilize on the sea floor is negative to the underwater robot boat using the buoyancy control module. Including providing net buoyancy characteristics.

  According to an additional aspect, the buoyancy control module includes at least one of a releasable float, a container in which air can be compressed, and a container in which air and water can be placed and removed. Including.

  Claim 31. 9. The method of claim 8, wherein the underwater robotic boat has a negative net buoyancy characteristic sufficient for stabilization at the bottom of the sea and sufficient to travel underwater using a propulsion system.

  According to an additional aspect, the underwater robot boat includes a buoyancy control module, and the method further includes the step of proceeding underwater along the pipeline to another weld joint of the plurality of weld joints. Providing a net neutral buoyancy characteristic to the underwater robotic boat using the buoyancy control module.

  According to an additional aspect, the underwater robot boat includes a first video camera.

  According to yet additional aspects, the underwater robotic boat includes a second video camera supported by the robot arm to provide improved monitoring of the inspection sensor.

  According to a further aspect, the underwater robot boat includes at least one of a proximity sensor and a sonar sensor supported by the robot arm.

  According to a further aspect, the underwater robot boat supports a cleaning module and an inspection module.

  According to an additional aspect, the underwater robot boat includes a first underwater robot boat and a second underwater robot boat, wherein one of the first underwater robot boat and the second underwater robot boat is a plurality of welds. Performing a cleaning operation on one of the joints, the other of the first underwater robot boat and the second underwater robot boat inspecting the cleaned weld joint using a sensor; Collecting cathodic protection data and ultrasonic test data is performed.

  These and other aspects, features, and advantages can be understood from the accompanying description of specific embodiments of the invention, the accompanying drawing figures, and the claims.

1 shows details of a system according to an embodiment of the present invention. FIG. 2A shows details of the system in various operating states in water. FIG. 2B shows details of the system in various operating states in water. FIG. 2C shows details of the system in various operating states in water. 3 shows a flowchart detailing operation steps according to an embodiment of the present invention. 2 illustrates an exemplary pipeline. 2 illustrates an exemplary cleaning tool.

  Referring to FIG. 1, a water environment robot system 100 is shown. The pipeline P is an example of a target foundation structure that is operated by the underwater robot boat 110. The portion of the pipeline P that receives the operation is located in a shallow water area. The support vessel SV is located near the portion of the pipeline P that is to be manipulated, but because of the shallow water depth, it is prevented from being positioned just above the area to be examined. Thus, the support vessel SV is located in deeper water slightly away from the target area of the pipeline. The underwater robot boat can be launched from the SV and moved to the area of the pipe to be inspected. Alternatively, the underwater robot boat 110 can be deployed from the shore S and moved underwater to reach the area of the pipe P to be inspected. Thus, the control station 113 may be located on the support vessel SV and / or shore S, and may depend on whether the submersible boat 110 is launched from the support vessel and / or shore.

  The underwater robot boat 110 may include a water surface boat 112 that can remain on the water surface. The water surface boat 112 may serve as a relay between the control station 113 (eg, the support vessel SV and / or the shore S) and the underwater robot boat 110. Communication signals and control signals received by the surface boat 112 can be transmitted from the control station 113. The water boat 112 can then relay the signal to the underwater robot 110. The signal can be used to command and control the operation of the underwater robot boat 110. Similarly, the underwater robot boat 110 can then send back signals (eg, feedback, position, inspection results, etc.) that are relayed back to the control station 113 back to the surface boat 112.

  2A-2C, the underwater robot 110 and the surface boat 112 are shown in various configurations that allow the boat to modify its buoyancy configuration so that the boat can perform various operations more efficiently in the water. It is. As shown in FIG. 2A, the surface boat 112 and the underwater robot 110 are engaged, and the two boats have a neutral net buoyancy. The surface boat 112 may have a positive buoyancy and the underwater boat 110 may have a negative buoyancy, but when two boats engage each other, the buoyancy is transmitted between the two boats. Cause net neutral buoyancy.

  The underwater robot 110 may include a lower body portion 111. The main hull of the underwater robot 110 may contain various electronic devices, motors, thrusters, sensors, and a power source, as determined as needed for the specific operation of the robot. The lower body portion 111 may include a track or tread 114 that can be used to cross the underwater seabed, as shown in FIG.

  The surface boat 112 functions as a buoyancy module 116 and is connected to the underwater robot 110 via a tether 118. The underwater robot 110 includes an electric pulley or winch system 120. The surface boat 112 can be connected to the underwater robot 110 via one or more tethers 118. The winch system 120 includes a motor and pulley or drum configured to stretch and retract the tether 118. The winch system 120 includes a motor and drum or pulley for winding and unwinding the tether 118. For example, when the motor of the winch system 120 rotates in the first direction, the tether 118 unwinds and extends from the underwater robot. As the motor rotates the drum in the opposite direction, the tether 118 winds around the drum and retracts into the underwater robot. Depending on the mode of operation, the winch system 120 can stretch and store the tether 118 upon receipt of an input control command. A state control device such as a processor or electrical or mechanical user input device that receives and provides commands can be connected to the winch to control the operation of the winch, as will be described in more detail below. The winch operates to transition the robot system between at least two buoyancy states as well.

  As the tether 118 is extended and / or retracted by the operation of the winch 120, the surface boats connected to the tether 118 are also extended and retracted. In FIG. 2A, the tether 118 is in the storage position. That is, the tether 118 is wound around the drum of the winch system 120 and the surface boat 112 is engaged with the underwater robot 110. Therefore, the tether 118 receives tension and transmits its buoyancy to the underwater robot.

  In FIG. 2B, the winch system 120 is shown in the process of deploying the surface boat 112 including the buoyancy module 116 by extending the tether 118 such that the buoyancy module is extended away from the underwater robot 110. . Due to the positive buoyancy of the buoyancy module 116, the buoyancy module 116 rises through the water column towards the water surface. However, because the tether 118 is still under tension, buoyancy is still being transmitted through the tether 118 to the underwater robot 110 in the configuration shown in FIG. 2B. Accordingly, the buoyancy module 116 is still engaged with the underwater robot 110 in this configuration because the tether 118 is under tension and exerts a force on the underwater robot 110.

  In FIG. 2C, the winch system 120 includes a tether 118 so that the watercraft 112 (including the buoyancy module 116) rises through the water column to the water surface and the underwater robot descends through the water column and contacts the water surface. Has been extended for a sufficient length of time. In this state, the tether 118 has been extended to the extent that buoyancy is no longer transmitted through the tether 118. As shown in FIG. 2C, the surface boat 112 (having the buoyancy module 116) floats freely on the surface of the water, and the underwater robot is on the bottom of the sea. The tether 118 is extended a greater length than the water column, that is, greater than the depth of water at the location, thereby causing the tether 118 to sag with respect to the buoyancy module 116 and the underwater robot 110. In this configuration, the buoyancy module 116 is disconnected from the robot 110 because the buoyancy module no longer applies buoyancy to the robot 110.

  In this sagging state, the tether 118 is no longer transmitting buoyancy to the robot 110. As a result of the tether 118 no longer transmitting buoyancy to the underwater robot 110, the net buoyancy of the underwater robot 110 has increased. Accordingly, the underwater robot 110 is subjected to greater gravity that holds the underwater robot against the sea floor. The increased net downward force experienced by the underwater robot 110 increases the traction force between the underwater robot 110 and the sea floor. By increasing the traction force, a better traction force is maintained, so that the robot can move along the underwater robot more stably. Furthermore, since the underwater robot has greater stability due to the increase in the traction force, the underwater robot 110 can execute the task more efficiently. For example, if the underwater robot 110 is manipulated to remove dirt from the pipe surface, the force applied to the pipe by the dirt removal tool will produce an equally opposite force on the underwater robot 110. Thus, the underwater robot 110 tends to be pushed away from the pipe as it applies force to the pipe. The increased traction force of the underwater robot 110 resulting from the reduction of buoyancy as a result of disconnection of the buoyancy module 116 resists this force and allows the robot to remain in the desired position during the cleaning operation.

  Accordingly, the mobile robot system 10 can be reconfigured to adjust the buoyancy characteristics of the underwater robot 110 during a particular operation and adjust again during other operations as needed.

  For example, when the robotic system is first deployed in the water, it may be desirable to have a surface boat 112 (with a buoyancy module 116) engaged with the underwater robot 110, as shown in FIG. 2A. The neutral buoyancy achieved by the engagement of the buoyancy module 116 and the underwater robot 110 improves the efficiency of floating through the water column and allows the use of the thruster 122 to move the robot through the water column. The thruster 122 can be used to move the robot to a desired position. Once in the desired position, as shown in FIG. 2C, the winch 120 is sufficient to allow the buoyancy module 116 to float on the water surface and the underwater robot 110 to remain on the seabed with sufficient slack in the tether 118. It can be moved to extend the tether 118 to range. When the buoyancy module 116 is disconnected from the underwater robot 110 (ie, no force is applied to the underwater robot by the buoyancy module), the underwater robot 110 traverses (ie, the tread 114 or other means (eg, crawler). Uses trailer legs, propellers, thrusters) and has a negative levitation state suitable for operating on the sea floor (performing inspection, cleaning, maintenance, etc.). The track / tread 114 can be used to reduce sand / silt disturbances in the marine environment, especially in very shallow waters, compared to the specific use of propellers and thrusters. Sand and silt disruptions can reduce visibility in the underwater environment, which can negatively affect boat performance. After the crawling or other action performed at sea level is completed, the winch 120 can roll up and store the tether, thereby re-engaging the buoyancy module 116 and the underwater robot 110 (ie, underwater by the buoyancy module. Force is applied to the robot). In this way, after the seabed motion is completed, the underwater robot is again neutrally buoyant and can move the water column efficiently. Once the operation is complete, the underwater robot 110 can float to the surface for recovery from the water.

  Therefore, in the first state, the underwater robot may have a first buoyancy, in the second state, the underwater robot may have a second buoyancy, and in the third state, the underwater robot has a first buoyancy. May have a buoyancy of 3. For example, the underwater robot has a neutral buoyancy characteristic in the first state, the underwater robot has a negative buoyancy characteristic in the second state, and the underwater robot has a neutral buoyancy characteristic in the third state.

  Accordingly, the buoyancy of the underwater robot can be changed using mechanical devices such as winches and tethers. The use of a winch and tether system provides a cost-effective and cost-effective means of controlling a boat's buoyancy compared to other systems that require a change in hydraulic ballast. Further, the buoyancy module remains connected to the underwater boat by the tether so that the buoyancy module can be recovered and reused after it is disconnected from the underwater robot. This provides a significant advantage over typical drop ballast systems where the ballast material is simply released and ignored and cannot be reused. Furthermore, the ability to engage, disengage, and re-engage the buoyancy module allows the robot's buoyancy to be adjusted multiple times throughout the motion. This allows greater flexibility and operational complexity to be achieved with a single launch of the robot. For example, the robot proceeds to a first location, lands on the seabed to perform an action, re-engaged with the buoyancy module so that the robot can swim to another location, and then the second You can land again to perform the action. This can be repeated many times before the robot finally resurfaces for recovery from the water.

  As noted above, the arrangement shown in FIG. 2 incorporates a surface boat 112 (and buoyancy module 116) with positive buoyancy. Furthermore, negative buoyancy and / or neutral buoyancy modules can also be used in other arrangements, as will be described in more detail below. The buoyancy of the buoyancy module can be adjusted by adjusting the material density of the buoyancy module and / or adjusting the volume of the buoyancy module. For example, the buoyancy module may be a filled bladder or a bladder filled with foam oil or other material having a lower density than water. A buoyancy module incorporating a lower density material will result in a module with positive buoyancy. Similarly, a buoyancy module incorporating a higher density material, such as a lead weight, sand rock, or other material that is higher in density than water, yields a buoyancy module with negative buoyancy.

  As described above, the underwater boat 110 and the water surface boat 112 are connected via the tether 118. When the tether 118 is under tension, buoyancy is transmitted between the boats via the tether 118 and the boats are engaged. For example, as shown in FIG. 2C, when the tether 118 is no longer under tension, such as when the surface boat 112 is on the surface of the water, the underwater boat 110 is on the seabed, and the tether is extended so that the tether 118 sags. The buoyancy is no longer transmitted through the tether 118 and the two boats are separated.

  Also, the surface boat 112 includes a communication repeater 126 that can wirelessly receive communications from the remote control station 113 and then relay those signals to the underwater robot 110 wirelessly or through a communication tether (not shown). There is also. The communication repeater 126 may be a buoy, a robot boat, or a zodiac, for example. The connection between the communication repeater and the boat may be wired (eg, fiber optic and / or electrical tether) or may use underwater radio technology (eg, laser, LED, RF, sound, etc.) is there. The surface boat 112 may also include a position sensor 124 for tracking the relative position of the underwater robot 110 with respect to the surface boat 112. The surface boat 112 may also include a processor for calculating the relative positions of the two boats, and between the underwater robot 110 and the surface boat 112 as the underwater robot performs its various operations. May include a propulsion system 128 that may be instructed to move the surface boat 112 so that relative positioning is maintained.

  The underwater robot boat 110 may include a first tool 130. The underwater robot boat 110 may include a robot arm 132 and a second tool 134 supported by the distal end of the robot arm 132. The first tool 130 may be a cleaning tool that can be used to remove debris from an underwater target structure, such as a pipeline P, for example. The cleaning tool may be a brush type tool and / or a jet type cleaning tool that sprays high pressure water (which may include sand slurry) to remove debris. The second tool 134 may be an inspection tool that can be used to inspect the pipe after it has been cleaned. The inspection tool is a cathodic protection (CP) voltage and may measure surface thickness using an ultrasonic test (UT), as described in more detail below. However, other types of inspection tools such as cameras, sensors, or non-destructive testing equipment can be used.

  As an example, the cleaning tool may be a cleaning device 500 as shown in FIG. A motor 502 disposed in the housing is attached to the proximal end of a rotatable first shaft 504 extending longitudinally along a first axis. The motor provides power to rotate the first shaft about the first axis. The distal end of the first shaft 504 is coupled to the universal joint 506. Universal joint 506 is known in the art and can transmit rotational force (eg, speed and torque) between two shafts while providing at least two degrees of freedom of movement (eg, rotational and angular motion). Or any conventional universal joint (eg, cardan or hook type). In the example cleaning device 500, the universal joint 506 is also coupled to the proximal end of a rotatable second shaft 508 extending longitudinally from the universal joint along a second axis. The universal joint 506 is angularly displaced (ie, pitched) so that the second shaft can rotate about the second axis and the second shaft about an axis of rotation having a center point at the universal joint. ) So that the second shaft 508 can receive the rotational motion of the first shaft 504. As the second shaft 508 swings around the axis of rotation, an angle is created between the first shaft 504 and the second shaft 508. This angle can be limited by the type of universal joint 506 selected.

  A cleaning mechanism 510 having a cleaning surface 512 is coupled to the distal end of the second shaft 508. The cleaning mechanism 510 is subjected to rotational movement about the second axis of the second shaft 508, which also allows the cleaning surface 512 to rotate in a plane substantially perpendicular to the second axis. . The cleaning surface 512 may include a cleaning implement such as a brush, bristle, or water jet, for example. As the cleaning surface 512 rotates, the cleaning implement contacts the target surface and removes biofouling. In one or more embodiments, the motor 502 can provide power to change the direction of rotation of the components of the cleaning device 500 (eg, clockwise to counterclockwise or vice versa). By alternating rotational directions, for example, the cleaning surface 512 with the brush can rub the target surface alternately in both rotational directions, thereby enhancing the efficiency of cleaning. This movement can be accomplished mechanically (eg, via a crankshaft) or can be electrically controlled.

  The cleaning device 500 passively aligns the cleaning mechanism with a curved, non-uniform, irregular underwater surface to provide enhanced cleaning performance and destabilize the underwater boat 110. Can be minimized. The cleaning device 500 provides the advantage of being adaptable to curved contours, such as pipelines, risers, or boat hulls. In one aspect, the cleaning device 500 has one or more degrees of freedom of movement to align the cleaning mechanism substantially perpendicular to the target surface. The cleaning device may include an alignment mechanism to minimize traction and gravity and thereby minimize destabilizing effects. More specifically, the alignment mechanism can limit the movement of the cleaning mechanism to a specified range to minimize such traction and gravity and maximize the stability of the underwater boat. In certain embodiments, the cleaning mechanism may have a cleaning implement such as, for example, a brush, bristle, or water jet. The cleaning mechanism may also include a plurality of concentric brushes that can pivot in alternate directions using a planetary gear system.

  In one or more embodiments, the cleaning device 500 may include an adhesive component to enhance its passive self-orienting function. For example, the cleaning mechanism 510 or the cleaning surface 512 is magnetized (eg, by a rare earth magnet or electromagnet such as neodymium) to help guide the transverse orientation of the cleaning surface to a ferromagnetic surface, such as a pipe. it can. In one or more embodiments, the adhesive component may include a suction mechanism for guiding the cleaning surface toward the non-ferromagnetic target surface. The cleaning device 500 is only an example of a cleaning tool, and other cleaning tools can be used in combination with the underwater robot boat 110.

  As described above, in certain embodiments, the inspection tool measures the cathodic protection (CP) voltage using an ultrasonic test (UT) in which the delay between taking each measurement is minimized, An integrated probe for measuring surface thickness. In this way, CP measurement and UT measurement can be performed substantially simultaneously. For example, both CP and UT measurements can be performed on a specific underwater surface (ie, an “inspection surface”), such as an underwater pipeline or pile driving, or a single landing on the underside of a moored ship hull. Can be executed in between.

  In one aspect, the second tool 134 may be an integrated probe that can be coupled to the robot arm 132 of the underwater boat 110. In one or more embodiments, the integrated probe system includes a central UT sensor or transducer (e.g., a perimeter array of conductive legs with attached, passively adjustable tips, i.e., fixtures (e.g., Piezoceramic crystal piezoelectric element). The conductive legs are not rigid, but rather have some flexibility as to how much they touch the underwater surface. In this way, when the conductive legs contact the underwater surface, the conductive legs adjust passively to orient the UT sensor at a right angle to the inspection surface. At the same time, the legs conduct a cathodic protection voltage associated with the surface, such as with a conductive steel tip, thereby performing the function of the CP probe. In this way, CP measurements and UT measurements can be performed substantially simultaneously, thereby reducing measurement inspection time, size, and weight added to the robot arm and increasing ROV agility.

  Furthermore, an integrated probe and integrated probe for measuring the cathodic protection (CP) voltage and measuring the surface thickness using an ultrasonic test (UT) in which the delay between taking each measurement is minimized Embodiments directed to magnetically coupling the system are provided. In this way, CP measurement and UT measurement can be performed substantially simultaneously. For example, both CP and UT measurements can be performed during a single landing on a specific underwater surface (ie, an “inspection surface”) such as an underwater pipeline or stake or under the hull of a moored ship. Can be executed.

  In order to counteract the recoil force caused by contact between the integrated probe and the inspection surface during landing, the integrated probe system includes a magnetic adhesive component that serves to magnetically couple the integrated probe to the inspection surface. Typical inspection surfaces, such as pipelines, include cathodes that contain ferromagnetic material (eg, iron, cobalt, steel, or nickel) or that are electromagnetically receptive by connecting the surface to a sufficient current. Includes anticorrosion coating (eg, zinc, magnesium, aluminum).

  The integrated probe system has the advantage that it can be implemented here by a small lightweight class ROV having only a single robot arm, such as an electric ROV, a general class ROV, an inspection class ROV, and an observation class ROV. provide. Small category class ROVs can be advantageously deployed for inspection surfaces that have accessibility issues (eg, shallow water sites) or where there is a power supply limitation.

  Therefore, the robot system described above can be used in the method according to the present invention to effectively inspect the underwater foundation structure. Referring to FIG. 3, a flowchart 300 illustrating an embodiment of an inspection method is shown.

  According to steps 310 and 312, the underwater robot boat 110 (Remotely Operated Spacecraft (ROV)) is brought into proximity to the target structure to be inspected and then deployed underwater. The underwater boat 110 can be brought into the shore S near the inspection site and / or brought in by the support boat SV and deployed from the shore S or the support boat SV. If the submersible boat 110 is deployed from the shore S, the submersible boat 110 can use the track 114 to crawl over the sea floor until it enters the water sufficiently deep to begin to travel. The underwater boat 110 may include a surface boat 112 that can serve as a repeater. The underwater boat 110 may be near the water surface or (eg, as in FIG. 2B) so that the surface boat 112 can act as a repeater while traveling to the desired location. Can proceed in a partially extended state.

  According to step 314, when the underwater boat is close to the target structure, the robot is in the correct position relative to the target structure to perform an action on the target structure (eg, onboard Visual inspection (using a video camera) can be performed. For example, the target structure may be a welded joint on the underwater pipeline P. Referring briefly to FIG. 4, that figure shows an exemplary target portion of pipeline P that may include portions of pipe 400 connected by weld joint 402. A concrete weight jacket 404 may be provided on the portion of the pipe 400 to load the pipeline downward and maintain its contact with the sea floor SF. As will be described in more detail below, the underwater robotic boat can perform various operations on the pipeline while traveling the water column WC and / or landing on the sea floor SF.

  At step 316, an operation can be performed on the underwater target structure. For example, the first tool 130 may be a cleaning tool (eg, brush, cleaning jet, cavitation jet / engine, etc.) that can be used to clean weld joints in an underwater pipeline. It is believed that using cavitation to perform the cleaning operation is particularly effective. In certain embodiments, the cavitation engine (eg, driver, pump, etc.) may be located on a support vessel located on the surface of the water, and the underwater robotic boat can be connected to the surface support vessel via a support tether. Cavitation energy can be delivered through the support tether to an underwater robot boat that can direct the cavitation energy towards the area to be cleaned. The support boat may be, for example, a Zodiac boat or other similar small boat or a water surface robot / electric boat. The operation in step 316 can be performed while the robotic boat 110 is traveling through the water column and / or after the underwater robot 110 has landed on the underwater surface.

  If the underwater robot 110 is still in the traveling configuration, the underwater robot 110 can land on the seabed at step 318 and stabilize. The transition from the traveling configuration to the landing configuration can be accomplished by disconnecting the underwater robot 110 from the surface boat / buoyancy module 112/116 as illustrated in FIGS. 2A-2C and described above. Thus, the command can be sent to extend the tether 118 so that the underwater robot 110 lands on the seabed and the watercraft 112 is located on the water surface. As described above, the surface boat 112 can be used to relay signals between the underwater boat 110 and the control station 113. Stabilization at the sea floor can be achieved by the negative buoyancy of the underwater boat 110 that provides a positive engagement with the sea floor. Thrusters / propellers can also be used to stabilize at the bottom of the sea, but thrusters / propellers can disturb the bottom sediment and reduce visibility. Therefore, the buoyancy control module can be used to make the underwater boat heavier and stabilized at the sea floor. Also, a boat can be set to be slightly negative buoyant so that it is not only heavy enough to be stable on the seabed, but light enough to be lifted by a thruster / propeller. Thus eliminating the need for a buoyancy control module in a particular configuration. In addition to or in lieu of a releasable and / or reusable buoyancy control module, buoyancy compresses and / or expands air inside a container (eg, ballast tank) and / or container (eg, It can also be controlled by moving water and air into and from the ballast tank. Therefore, the transition from the traveling configuration to the landing configuration can be achieved by operating the buoyancy module.

  At step 320, the truck 114 can be used to further manipulate the boat in place when the boat is on the seabed. The track / tread 114 can be used to avoid sand / silt disturbances in the aquatic environment, especially in very shallow waters.

  At step 322, the robot arm 132 and inspection tool 134 can be used to inspect the action performed at step 316. The robot arm 132 can be operated in place so that the inspection tool 134 can perform an inspection operation. At step 324, an inspection can be performed. For example, if the inspection tool is a CP / UT sensor, the weld joint can be inspected using a CP / UT sensor probe. In addition to the camera located on the underwater boat 110, another camera is attached to the tip of the robot arm 144, instead of relying on a boat camera that is usually far away from the long extended end effector of the robot arm. Excellent visibility can be made possible. Thus, the second camera can be operated to a position that provides improved monitoring of the inspection sensor (eg, closer position, better viewing angle, unobstructed position, etc.). Proximity sensors can be used to confirm that the end effector is close to the water surface required for inspection. Sonars (1D, 2D, and 3D) can also be used to navigate the arm in the low visibility region.

  At step 326, after cleaning and inspection is completed at a particular weld joint, the robot arm 132 can be stored in a storage position more suitable for the robotic boat 110 moving to another position. For example, if the robot arm 132 is extended during operation, the robot arm 132 can be folded into a compact configuration before the underwater boat 110 moves to another position.

  At step 328, the submersible boat 110 may move to the next location for additional actions (eg, cleaning and inspection). The boat 110 can move by advancing the water column to the next location. This can be accomplished by re-engaging the watercraft / buoyancy module 112/116 to give the boat 110 a net neutral buoyancy and then proceeding using the thruster 112.

  Once the boat 110 reaches the next desired location (e.g., the next welded joint on the water column pipeline), according to step 330, the cleaning and inspection steps 316-326 can be repeated. This process can be repeated until all target areas have been manipulated (eg, all welded joints in the underwater pipeline are cleaned and inspected).

  In step 332, after all operations are completed, the underwater boat 110 can swim to the sea level. The underwater boat 110 can then be recovered by either proceeding to the shore S or proceeding to the support boat SV.

  The steps shown in FIG. 3 provide steps according to one embodiment, and those skilled in the art will understand that the order of certain steps can be changed and / or certain steps can be omitted.

  As described above, the underwater boat 110 can be used to carry a cleaning module and an inspection module. In other embodiments, two underwater boats can be used, and the function of the underwater boat can be divided between the two boats. For example, one submersible boat can be used to perform a cleaning operation and a second submersible boat can be used to perform an inspection operation.

  In addition to the above description, the embodiment of FIGS. 1-5 can be further described as including the following features. Embodiments disclose a method that may include deploying an underwater robotic boat in water, including deploying an underwater robotic boat from a water surface support vessel. The water support vessel may be a Zodiac boat or a larger boat. Further, performing the cleaning operation may include cleaning using cavitation. The system may include a cavitation engine (eg, a cavitation generator) supported by a water surface boat. A water boat may be a zodiac boat, a larger boat, or an electric boat that can follow a submersible boat at the surface of the water (eg, an electric boat may be a robotic water surface support vessel in certain embodiments). ).

  Although much of the above description is directed to systems and methods for underwater inspection crawlers, the systems and methods disclosed herein are in situations, conditions, and settings far beyond the referenced situations. It should be understood that it can be deployed and / or implemented as well. Further, it is to be understood that any such implementation and / or deployment is within the scope of the systems and methods described herein.

  Moreover, like numerals in the drawings represent like elements throughout the several views, and all components and / or steps described and described with reference to the drawings are required for all embodiments or arrangements. It should be understood that it is not done. Also, embodiments, implementations, and / or arrangements of the systems and methods disclosed herein may perform the functions and / or operations described in hardware, firmware, and / or described herein. Software algorithms, applications, programs residing on computer usable media (including software modules and browser plug-ins) that are executable on the processor of the computer system or computing device to configure the processor and / or other elements It should also be understood that it can be incorporated as a module or code. According to at least one embodiment, at run time, one or more computer programs, modules, and / or applications that perform the methods of the present disclosure need not reside on a single computer or processor; It should be understood that the various aspects of the disclosed systems and methods can be modularly distributed among several different computers or processors.

  The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. . The terms “comprises” and / or “comprising”, as used herein, specify the presence of a described feature, integer, step, action, element, and / or component. It is further understood that does not exclude the presence or addition of one or more other features, integers, steps, actions, elements, components, and / or groups thereof.

  The use of ordinal terms such as “first”, “second”, “third”, etc. within the scope of a claim to modify a claim element is itself a separate act on which a method act is performed. One claim element having a specific name is not intended to imply the priority, priority, or order of one claim element over or in temporal order (for the use of ordinal terms). Note that it is only used to distinguish claim elements from other elements having the same name (if any).

  Also, the expressions and terminology used herein are for the purpose of description and should not be regarded as limiting. Use of “including”, “comprising”, or “having”, “containing”, “involving” and variations thereof herein Is intended to encompass not only additional items, but also items listed thereafter and their equivalents.

  The subject matter described above is provided by way of illustration only and should not be construed as limiting. Various modifications and changes are described herein without following the example embodiments and applications shown and described, and without departing from the true spirit and scope of the invention as set forth in the claims below. Can be added to the subject.

DESCRIPTION OF SYMBOLS 10 Mobile robot system 110 Underwater robot boat 111 Main part 112 Water surface boat 113 Remote control station 114 Track / tread 116 Buoyancy module 118 Tether 120 Winch system 122 Thruster 124 Position sensor 126 Communication repeater 128 Propulsion system 130 First tool 132 Robot arm 134 Second tool 144 Robot arm 300 Flowchart 400 Pipe 402 Weld joint 404 Weighted jacket 500 Cleaning device 502 Motor 504 First shaft 506 Universal joint 508 Second shaft 510 Cleaning mechanism 512 Cleaning surface

Claims (27)

A method for performing an action on an underwater foundation structure at multiple locations using an aquatic environment robot system comprising:
a) providing an underwater robot boat in a position proximate to the underwater foundation structure;
b) moving the underwater robot boat in the water to one of the plurality of locations of the underwater foundation structure;
c) performing a first action on the underwater foundation at the one of the plurality of locations;
d) operating the submersible craft to engage the sea floor;
e) performing a second action on the underwater foundation at the one of the plurality of locations;
f) moving the underwater robot boat in the water to another location of the plurality of locations of the underwater foundation structure;
g) repeating steps (c) through (f) until all desired operations are performed at all of the desired locations of the plurality of locations;
h) collecting the submersible craft.   The method of claim 1, wherein the first operation is a cleaning operation and the second operation is an inspection operation of the first location that has been previously cleaned using a non-destructive sensor.   The method of claim 1, wherein the underwater foundation is a pipeline and the plurality of locations are welded joints along the pipeline.   The step of manipulating the submersible craft to engage the sea floor changes the buoyancy module so that the buoyancy characteristics of the submersible craft are changed from neutrally buoyant to negative buoyant. The method of claim 1, comprising controlling and operating.   The method of claim 1, wherein the step of performing a second action includes extending a robot arm and sensing using a non-destructive sensor.   The step of moving the underwater robot boat to another location in the water changes the underwater boat so that the buoyancy characteristic of the underwater boat is changed from negative buoyancy to neutral buoyancy. The method of claim 1, comprising re-engaging a buoyancy module and moving through the water. A method for performing an operation on a target portion of a pipeline located in an underwater environment using an aquatic environment robotic system, wherein the pipeline is located at a plurality of locations along the length of the pipeline Having a plurality of welded joints,
a) providing an underwater robot boat in a position proximate to the underwater pipeline, wherein the underwater robot boat is adapted to move the underwater robot boat along at least one robot arm and the sea floor; Providing the underwater robot boat comprising: a tread; a sensor; and a propulsion system adapted to move the underwater robot boat by traveling in the water;
b) deploying the underwater robotic boat in the water;
c) visually inspecting the underwater environment to place the pipeline and a plurality of welded joints of the pipeline using the underwater robot boat;
d) performing a cleaning operation on one of the plurality of welded joints using the underwater robot boat;
e) maneuvering the underwater robot boat to land and stabilize on the sea floor;
f) adjusting the position of the underwater robot boat on the sea floor;
g) deploying the robot arm to inspect the cleaned weld joint;
h) inspecting the cleaned weld joint using the sensor to collect cathodic protection data and ultrasonic test data;
i) storing the robot arm in a folding position suitable for the underwater robot boat to travel in the water;
j) swimming the underwater robot boat along the pipeline to another welded joint of the plurality of welded joints while performing a visual inspection;
k) repeating steps (d) to (j) for a plurality of weld joints in the target portion of the pipeline;
l) swimming the underwater robot boat upward;
m) enabling the recovery of the underwater robotic boat at the surface of the aquatic environment.   The method according to claim 7, wherein the step of deploying the underwater robot boat in the water includes deploying the underwater robot boat from a water surface support vessel.   The step of deploying the underwater robot boat in the water is sufficient to deploy the underwater robot boat from a land location and the underwater robot boat is sufficient to allow the water to swim the underwater robot boat. 8. The method of claim 7, comprising crawling along the sea floor using the tread until moved to a position having depth.   The method of claim 7, wherein the underwater robot boat is connected to a communication repeater configured to enable aerial communication between the underwater robot boat and a remote control station.   The method of claim 7, further comprising the step of positioning the pipeline using a sonar sensor mounted below the water surface support vessel.   The method of claim 7, further comprising positioning the pipeline using a sonar sensor attached to the underwater robot boat.   The method of claim 7, wherein the step of performing a cleaning operation comprises using at least one of a cavitation system and a brushing system.   The method of claim 13, wherein the cavitation system comprises a cavitation engine supported by a surface boat.   The method according to claim 16, wherein the brushing system comprises a system having destabilization reducing means for reducing forces generated during the step of performing a cleaning operation.   8. The step of manipulating the submersible craft to land and stabilize on the sea floor includes engaging the propulsion system to provide a downward force toward the sea floor. the method of.   The method of claim 7, wherein the step of adjusting the position of the underwater robot boat on the sea floor includes using a propeller.   The method of claim 7, wherein the step of adjusting the position of the underwater robotic boat at the sea floor comprises using the tread to minimize disturbance to the underwater environment.   The underwater robot boat includes a buoyancy control module, and the step of manipulating the underwater robot boat to land and stabilize on the sea floor uses the buoyancy control module to 8. The method of claim 7, comprising providing a characteristic.   20. The buoyancy control module includes at least one of a releasable float, a container in which air can be compressed, and a container in which air and water can be placed and removed. The method described.   The underwater robot boat includes a buoyancy control module, and further uses the buoyancy control module before the step of proceeding underwater along the pipeline to another weld joint of the plurality of weld joints. The method of claim 7, further comprising providing a net neutral buoyancy characteristic to the underwater robot boat.   The underwater robotic boat has a negative net buoyancy characteristic sufficient for stabilization at the bottom of the sea and sufficient for traveling through the water using the propulsion system. The method described.   The method according to claim 7, wherein the underwater robot boat includes a first video camera.   24. The method of claim 23, wherein the underwater robot boat includes a second video camera supported by the robot arm to provide improved monitoring of the inspection sensor.   The method according to claim 7, wherein the underwater robot boat includes at least one of a proximity sensor and a sonar sensor supported by the robot arm.   The method of claim 7, wherein the underwater robot boat supports a cleaning module and an inspection module.   The underwater robot boat includes a first underwater robot boat and a second underwater robot boat, and one of the first underwater robot boat and the second underwater robot boat is one of the plurality of weld joints. One of the first underwater robot boat and the other of the second underwater robot boats inspecting the cleaned weld joint using the sensor. The method of claim 7, wherein the step of collecting cathodic protection data and ultrasonic test data is performed.